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Explore the Gazebo world

Description: Cruise around in the Gazebo world and use RViz to "see" what's in it.

If you prefer other methods to move the robot, be sure to use geometry_msgs/Twist topic by the name /mobile_base/commands/velocity.

See what the robot sees

Use RViz to visualise various sensory information. In a new terminal* execute:

$ roslaunch turtlebot_rviz_launchers view_robot.launch

RViz won't show much at first, since the Gazebo world is empty. So, let's add some objects to it!

Notes

* If your terminals are not already pre-configured with the ROS environment variables, you need to set them in each new terminal you open. Just execute the below command *before* you execute any other ROS commands.